<svg version="1.2" baseProfile="tiny" width="210mm" height="280mm" viewBox="0 0 21000 28000" preserveAspectRatio="xMidYMid" fill-rule="evenodd" stroke-width="28.222" stroke-linejoin="round" xmlns="http://www.w3.org/2000/svg" xml:space="preserve"><defs class="ClipPathGroup"><clipPath id="a" clipPathUnits="userSpaceOnUse"><path d="M0 0h21000v28000H0z"/></clipPath></defs><g class="Master_Slide"><g class="BackgroundObjects"><g class="Date/Time"><path class="BoundingBox" fill="none" d="M1400 19131h6524v1449H1400z"/></g><g class="Footer"><path class="BoundingBox" fill="none" d="M9576 19131h8876v1449H9576z"/></g></g></g><g class="SlideGroup"><g class="Slide" clip-path="url(#a)"><g class="Page"><g class="TitleText"><path class="BoundingBox" fill="none" d="M1400 837h17397v3507H1400z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="1552" font-weight="400"><tspan class="TextPosition" x="2533" y="3130"><tspan>PWM_LIMIT_STATE_</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M8126 4062h2797v2544H8126z"/><path fill="#FF9" d="M9523 4063c792 0 1397 550 1397 1270s-605 1270-1397 1270-1396-550-1396-1270 604-1270 1396-1270Zm-1396 0Zm2794 2541Z"/><path fill="none" stroke="#3465A4" d="M9523 4063c792 0 1397 550 1397 1270s-605 1270-1397 1270-1396-550-1396-1270 604-1270 1396-1270Zm-1396 0Zm2794 2541Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="8923" y="5554"><tspan>INIT</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M8126 13461h2797v2544H8126z"/><path fill="#FF9" d="M9523 13462c792 0 1397 550 1397 1270s-605 1270-1397 1270-1396-550-1396-1270 604-1270 1396-1270Zm-1396 0Zm2794 2541Z"/><path fill="none" stroke="#3465A4" d="M9523 13462c792 0 1397 550 1397 1270s-605 1270-1397 1270-1396-550-1396-1270 604-1270 1396-1270Zm-1396 0Zm2794 2541Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="8607" y="14953"><tspan>RAMP</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M8126 8634h2797v2544H8126z"/><path fill="#FF9" d="M9523 8635c792 0 1397 550 1397 1270s-605 1270-1397 1270-1396-550-1396-1270 604-1270 1396-1270Zm-1396 0Zm2794 2541Z"/><path fill="none" stroke="#3465A4" d="M9523 8635c792 0 1397 550 1397 1270s-605 1270-1397 1270-1396-550-1396-1270 604-1270 1396-1270Zm-1396 0Zm2794 2541Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="8887" y="10126"><tspan>OFF</tspan></tspan></tspan></text></g><g 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1270s-605 1270-1397 1270-1396-550-1396-1270 604-1270 1396-1270Zm-1396 0Zm2794 2541Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="9047" y="19779"><tspan>ON</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" fill="none" d="M9375 16001h301v2288h-301z"/><path fill="none" stroke="#000" d="M9525 16002v1856"/><path d="m9525 18288 150-450h-300l150 450Z"/></g><g class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" fill="none" d="M4219 9778h3911v9782H4219z"/><path fill="none" stroke="#000" d="M8128 19558c-5145 0-5141-9154-393-9634"/><path d="m8128 9905-457-126 15 299 442-173Z"/></g><g class="com.sun.star.drawing.TextShape"><path class="BoundingBox" fill="none" d="M1270 13954h4827v1033H1270z"/><path fill="#FFF" d="M3683 14986H1270v-1032h4826v1032H3683Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="2697" y="14655"><tspan>!armed</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.TextShape"><path class="BoundingBox" fill="none" d="M5145 13007h2476v964H5145z"/><path fill="#FFF" d="M6383 13970H5145v-963h2475v963H6383Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="5396" y="13708"><tspan>!armed</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.TextShape"><path class="BoundingBox" fill="none" d="M4572 6911h10669v964H4572z"/><path fill="#FFF" d="M9906 7874H4572v-963h10668v963H9906Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="5059" y="7612"><tspan>armed &amp;&amp; INIT_TIME_US elapsed</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.TextShape"><path class="BoundingBox" fill="none" d="M8382 11737h2298v964H8382z"/><path fill="#FFF" d="M9531 12700H8382v-963h2297v963H9531Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="8633" y="12438"><tspan>armed</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.TextShape"><path class="BoundingBox" fill="none" d="M5086 16309h10917v964H5086z"/><path fill="#FFF" d="M10544 17272H5086v-963h10916v963h-5458Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="5382" y="17010"><tspan>armed &amp;&amp; RAMP_TIME_US elapsed</tspan></tspan></tspan></text></g><g fill="none" class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" d="M10920 5332h6907v3572h-6907z"/><path stroke="#3465A4" d="M10921 5333h6904v3569"/></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M14649 8900h6353v2010h-6353z"/><path fill="#FFF" d="M17825 10908h-3175V8901h6350v2007h-3175Z"/><path fill="none" stroke="#3465A4" d="M17825 10908h-3175V8901h6350v2007h-3175Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="353" font-weight="400"><tspan class="TextPosition" x="15048" y="10028"><tspan>effective_pwm[i] = disarmed_pwm[i]</tspan></tspan></tspan></text></g><g fill="none" class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" d="M10920 9904h3732v3h-3732z"/><path stroke="#3465A4" d="M10921 9905h3729"/></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M14649 13727h6353v2010h-6353z"/><path fill="#FFF" d="M17825 15735h-3175v-2007h6350v2007h-3175Z"/><path fill="none" stroke="#3465A4" d="M17825 15735h-3175v-2007h6350v2007h-3175Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="353" font-weight="400"><tspan class="TextPosition" x="16526" y="14656"><tspan>Update progress</tspan></tspan></tspan><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="353" font-weight="400"><tspan class="TextPosition" x="15520" y="15054"><tspan>effective_pwm[i] = f(progress)</tspan></tspan></tspan></text></g><g fill="none" class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" d="M10920 14731h3732v3h-3732z"/><path stroke="#3465A4" d="M10921 14732h3729"/></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M14649 18553h6353v2010h-6353z"/><path fill="#FFF" d="M17825 20561h-3175v-2007h6350v2007h-3175Z"/><path fill="none" stroke="#3465A4" d="M17825 20561h-3175v-2007h6350v2007h-3175Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="353" font-weight="400"><tspan class="TextPosition" x="15679" y="19681"><tspan>effective_pwm[i] = f(control)</tspan></tspan></tspan></text></g><g fill="none" class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" d="M10920 19557h3732v3h-3732z"/><path stroke="#3465A4" d="M10921 19558h3729"/></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M8127 22088h2798v2544H8127z"/><path fill="#F9F" d="M9525 22089c792 0 1397 550 1397 1270s-605 1270-1397 1270-1397-550-1397-1270 605-1270 1397-1270Zm-1397 0Zm2795 2541Z"/><path fill="none" stroke="#3465A4" d="M9525 22089c792 0 1397 550 1397 1270s-605 1270-1397 1270-1397-550-1397-1270 605-1270 1397-1270Zm-1397 0Zm2795 2541Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="8168" y="23580"><tspan>PREARM</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" fill="none" d="M5135 23209h2994v301H5135z"/><path fill="none" stroke="#000" d="M5136 23352h1246v7h1316"/><path d="m8128 23359-450-150v300l450-150Z"/></g><g class="com.sun.star.drawing.TextShape"><path class="BoundingBox" fill="none" d="M1524 22851h3811v1017H1524z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="1899" y="23552"><tspan>pre_armed</tspan></tspan></tspan></text></g><g fill="none" class="com.sun.star.drawing.ConnectorShape"><path class="BoundingBox" d="M10921 23349h3732v12h-3732z"/><path stroke="#3465A4" d="M10922 23359h2116v-9h1613"/></g><g class="com.sun.star.drawing.CustomShape"><path class="BoundingBox" fill="none" d="M14649 22342h6353v2035h-6353z"/><path fill="#FFF" d="M17825 24375h-3175v-2032h6350v2032h-3175Z"/><path fill="none" stroke="#3465A4" d="M17825 24375h-3175v-2032h6350v2032h-3175Z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="353" font-weight="400"><tspan class="TextPosition" x="15679" y="23482"><tspan>effective_pwm[i] = f(control)</tspan></tspan></tspan></text></g><g class="com.sun.star.drawing.TextShape"><path class="BoundingBox" fill="none" d="M3302 24997h15053v3096H3302z"/><text class="TextShape"><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="3552" y="25698"><tspan>Note: input pre_armed overrides the current state</tspan></tspan></tspan><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="3552" y="26409"><tspan>while asserted. When deasserted the state machine</tspan></tspan></tspan><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="3552" y="27120"><tspan>functions normally. Throttle controls must be set to</tspan></tspan></tspan><tspan class="TextParagraph" font-family="Liberation Sans, sans-serif" font-size="635" font-weight="400"><tspan class="TextPosition" x="3552" y="27831"><tspan>NaN while pre_armed is asserted.</tspan></tspan></tspan></text></g></g></g></g></svg>